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Unmanned Aerial Vehicles (UAVs) have recently rapidly grown to facilitate a wide range of innovative applications that can fundamentally change the way cyber-physical systems (CPSs) are designed. CPSs are a modern generation of systems with…
Achieving safe autonomous navigation systems is critical for deploying robots in dynamic and uncertain real-world environments. In this paper, we propose a hierarchical control framework leveraging neural network verification techniques to…
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…
Providing safety guarantees for stochastic dynamical systems is a central problem in various fields, including control theory, machine learning, and robotics. Existing methods either employ Stochastic Barrier Functions (SBFs) or rely on…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
Unmanned aerial vehicles (UAVs), initially developed for military applications, are now used in various fields. As UAVs become more common across multiple industries, it is crucial to understand how to adopt them effectively, efficiently,…
Unmanned Aerial vehicles (UAVs) are widely used as network processors in mobile networks, but more recently, UAVs have been used in Mobile Edge Computing as mobile servers. However, there are significant challenges to use UAVs in complex…
The use of unmanned aerial vehicles (UAVs) is growing rapidly across many civil application domains including real-time monitoring, providing wireless coverage, remote sensing, search and rescue, delivery of goods, security and…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…
Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…
The integration of unmanned aerial vehicles (UAVs) into shared airspace for beyond visual line of sight (BVLOS) operations presents significant challenges but holds transformative potential for sectors like transportation, construction,…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…
Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Small Unmanned Aerial Systems (sUAS) must meet rigorous safety standards when deployed in high-stress emergency response scenarios; however many reported accidents have involved humans in the loop. In this paper, we, therefore, present the…
Control firmware in unmanned aerial vehicles (UAVs) uses sensors to model and manage flight operations, from takeoff to landing to flying between waypoints. However, sensors can fail at any time during a flight. If control firmware…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative robots for rehabilitation. Safety is critical for the…
As autonomous driving systems (ADSes) become increasingly complex and integral to daily life, the importance of understanding the nature and mitigation of software bugs in these systems has grown correspondingly. Addressing the challenges…